LAUSR.org creates dashboard-style pages of related content for over 1.5 million academic articles. Sign Up to like articles & get recommendations!

Terminal sliding-mode disturbance observer-based finite-time adaptive-neural formation control of autonomous surface vessels under output constraints

Photo by jontyson from unsplash

Abstract This paper proposes a tracking controller for the formation construction of multiple autonomous surface vessels (ASVs) in the presence of model uncertainties and external disturbances with output constraints. To… Click to show full abstract

Abstract This paper proposes a tracking controller for the formation construction of multiple autonomous surface vessels (ASVs) in the presence of model uncertainties and external disturbances with output constraints. To design a formation control system, the leader-following strategy is adopted for each ASV. A symmetric barrier Lyapunov function (BLF), which advances to infinity when its arguments reach a finite limit, is applied to prevent the state variables from violating constraints. An adaptive-neural technique is employed to compensate uncertain parameters and unmodeled dynamics. To overcome the explosion of differentiation term problem, a first-order filter is proposed to realize the derivative of virtual variables in the dynamic surface control (DSC). To estimate the leader velocity in finite time, a high-gain observer is effectively employed. This approach is adopted to reveal all signals of the closed-loop system which are bounded, and the formation tracking errors are semi-globally finite-time uniformly bounded. The computer simulation results demonstrate the efficacy of this newly proposed formation controller for the autonomous surface vessels.

Keywords: finite time; surface; control; autonomous surface; surface vessels; formation

Journal Title: Robotica
Year Published: 2022

Link to full text (if available)


Share on Social Media:                               Sign Up to like & get
recommendations!

Related content

More Information              News              Social Media              Video              Recommended



                Click one of the above tabs to view related content.